This paper presents a tutorial on the Mixed H2/H<FONT FACE=Symbol>¥</FONT> Control Problem. It is formulated from the usual problems in the Control Theory and Servomechanisms, showing the existence, uniqueness and regularity conditions of its solutions. Besides, a direct method for approach its solution is showed with a certain detail, based on expansions of redundant generating sets and with the support of a dual method existent in the literature. The finite dimension resultant optimization problems are convex, demanding a subgradient associated to the H<FONT FACE=Symbol>¥</FONT> restriction. It seems non affect the numeric efficiency of the proposed algorithm, as it can be seen in some examples.
Robust control; mixed H2/H<FONT FACE=Symbol>¥</FONT> problem; direct methods; subgradient
